非线性系统的模型到达变结构控制

Model-reaching Control of Nonlinear Systems via Variable Structure Control

中文关键词  非线性控制系统  变结构控制  模型达到控制  动态补偿VSC  控制受限

英文关键词  nonlinear control systems  variable structure control  model-reaching control  dynamic compensator VSC  constrained control

中文摘要

      本文对一般非线性控制系统，提出了一种模型达到控制的概念，作为模型跟踪控制的推广。为此，当模型与系统为同阶时，引入了动态补偿器，然后采用变结构控制（VSC）策略，来实现模型到达控制的目的。文中还研究了控制受限情况下的VSC，所提出的控制策略此时有很大的简化。最后讨论了滑动模态对摄动的自适应性。文中引用的趋近律为多输入情况提供简单的计算方法，也解决了VSC全过程的品质问题。

英文摘要

      A new idea “Model-reaching control” is suggested in this paper as a generalization of “Model-tracking control”. In order to realize a model of the same order as that of the plant, dynamic compensator is introduced before establishing a variable structure control strategy. Constraints on the control and adaptation of the sliding mode are also considered. Finally it is shown that the quality of control process can be guaranteed by the so-called “reaching law”.